摘要
为提高激光再制造机器人跟踪性能,研究了一种基于双目视觉技术的激光再制造机器人跟踪系统。首先分析环境信息,再利用激光器采集机器人环境信息,设计机器人跟踪控制单元,然后对机器人的运动进行控制,最后设计机器人跟踪程序。至此,完成机器人跟踪系统的设计。实验结果表明,本系统不仅缩小了激光再制造机器人跟踪误差,左右偏差均为0.12 cm,还具有更好的激光再制造机器人避障精度,最高可达到97%,具有更高的实际应用价值。
In order to improve the tracking performance of laser remanufacturing robot,a tracking system of laser remanufacturing robot based on binocular vision technology is studied in this paper.Firstly,the environmental information is analyzed,then the laser is used to collect the environmental information of the robot,the robot tracking control unit is designed,then the motion of the robot is controlled,and finally the robot tracking program is designed.So far,the design of robot tracking system is completed.The experimental results show that the system not only reduces the tracking error of the laser remanufacturing robot,with both left and right deviations of 0.12 cm,but also has better obstacle avoidance accuracy of the laser remanufacturing robot,up to 97%,and has higher practical application value.
作者
王一如
樊秋波
种法力
WANG Yiru;FAN Qiubo;CHONG Fali(School of Physics and Energy,Xuzhou University of Technology,Xuzhou 221018,China)
出处
《激光杂志》
CAS
北大核心
2023年第3期216-220,共5页
Laser Journal
基金
国家自然科学基金(No.11875230)。
关键词
双目视觉技术
激光再制造机器人
跟踪系统
跟踪偏差
性能测试
binocular vision technology
laser remanufacturing robot
tracking system
tracking deviation
performance testing
